Machining with the WalkingHex: A walking parallel kinematic machine tool for in situ operations

A. Olarra; D. Axinte; L. Uriarte; R. Bueno

doi:10.1016/j.cirp.2017.04.050

Machining with the WalkingHex: A walking parallel kinematic machine tool for in situ operations

A. Olarra^*
, D. Axinte
, L. Uriarte
, R. Bueno

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

27 Citations (Scopus)

Abstract

In situ repair/maintenance of industrial installations is challenging working scenario considering the variety of operations that are required to be performed against the clock. The paper reports on a unique walking hexapod (WalkingHex) machine tool which has a set of key abilities: (i) walks autonomously to the place of intervention; (ii) calibrates autonomously and references itself against features on the ground; (iii) performs machining operations. The essential design and theoretical aspects are presented to allow the understanding of main working principles of the WalkingHex while a selected set of experimental trails show its ability to generate accurate features.

Original language	English
Pages (from-to)	361-364
Number of pages	4
Journal	CIRP Annals - Manufacturing Technology
Volume	66
Issue number	1
DOIs	https://doi.org/10.1016/j.cirp.2017.04.050
Publication status	Published - 2017
Externally published	Yes

Keywords

In situ machining
Machine tool
Parallel kinematics

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10.1016/j.cirp.2017.04.050

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title = "Machining with the WalkingHex: A walking parallel kinematic machine tool for in situ operations",

abstract = "In situ repair/maintenance of industrial installations is challenging working scenario considering the variety of operations that are required to be performed against the clock. The paper reports on a unique walking hexapod (WalkingHex) machine tool which has a set of key abilities: (i) walks autonomously to the place of intervention; (ii) calibrates autonomously and references itself against features on the ground; (iii) performs machining operations. The essential design and theoretical aspects are presented to allow the understanding of main working principles of the WalkingHex while a selected set of experimental trails show its ability to generate accurate features.",

keywords = "In situ machining, Machine tool, Parallel kinematics",

author = "A. Olarra and D. Axinte and L. Uriarte and R. Bueno",

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year = "2017",

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language = "English",

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AU - Olarra, A.

AU - Axinte, D.

AU - Uriarte, L.

AU - Bueno, R.

PY - 2017

Y1 - 2017

N2 - In situ repair/maintenance of industrial installations is challenging working scenario considering the variety of operations that are required to be performed against the clock. The paper reports on a unique walking hexapod (WalkingHex) machine tool which has a set of key abilities: (i) walks autonomously to the place of intervention; (ii) calibrates autonomously and references itself against features on the ground; (iii) performs machining operations. The essential design and theoretical aspects are presented to allow the understanding of main working principles of the WalkingHex while a selected set of experimental trails show its ability to generate accurate features.

AB - In situ repair/maintenance of industrial installations is challenging working scenario considering the variety of operations that are required to be performed against the clock. The paper reports on a unique walking hexapod (WalkingHex) machine tool which has a set of key abilities: (i) walks autonomously to the place of intervention; (ii) calibrates autonomously and references itself against features on the ground; (iii) performs machining operations. The essential design and theoretical aspects are presented to allow the understanding of main working principles of the WalkingHex while a selected set of experimental trails show its ability to generate accurate features.

KW - In situ machining

KW - Machine tool

KW - Parallel kinematics

UR - https://www.scopus.com/pages/publications/85018261419

U2 - 10.1016/j.cirp.2017.04.050

DO - 10.1016/j.cirp.2017.04.050

M3 - Article

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SN - 0007-8506

VL - 66

SP - 361

EP - 364

JO - CIRP Annals - Manufacturing Technology

JF - CIRP Annals - Manufacturing Technology

IS - 1

ER -

Machining with the WalkingHex: A walking parallel kinematic machine tool for in situ operations

Abstract

Keywords

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